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move booz imu to firmwares/rotorcraft and rename

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This commit is contained in:
Felix Ruess
2010-09-27 22:55:53 +00:00
parent 905327a825
commit aba34b9162
2 changed files with 7 additions and 8 deletions
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sw/airborne/booz/booz_imu.c → sw/airborne/firmwares/rotorcraft/imu.c
+5 -6
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*/
#include "booz_imu.h"
@@ -33,15 +33,15 @@ void booz_imu_init(void) {
RATES_ASSIGN(booz_imu.gyro_neutral, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL);
VECT3_ASSIGN(booz_imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
VECT3_ASSIGN(booz_imu.mag_neutral, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL);
/*
Compute quaternion and rotation matrix
for conversions between body and imu frame
*/
#ifdef IMU_BODY_TO_IMU_PHI
struct Int32Eulers body_to_imu_eulers =
{ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
{ ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PHI),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_THETA),
ANGLE_BFP_OF_REAL(IMU_BODY_TO_IMU_PSI) };
INT32_QUAT_OF_EULERS(booz_imu.body_to_imu_quat, body_to_imu_eulers);
INT32_QUAT_NORMALISE(booz_imu.body_to_imu_quat);
@@ -50,4 +50,3 @@ void booz_imu_init(void) {
booz_imu_impl_init();
}
sw/airborne/booz/booz_imu.h → sw/airborne/firmwares/rotorcraft/imu.h
+2 -2
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_IMU_H